Contouring Performance Study of a Fuzzy-based Practical Controller on an X-Y Table

Purtojo ., Heru S. B. Rochardjo, Gesang Nugroho, Herianto .


This article presents a contouring performance of an improved practical fuzzy-based nominal characteristic trajectory following (NCTF) controller. The proposed fuzzy-based NCTF controller structure for continuous motion control is slightly different from the normal NCTF controller. It is composed of a nominal characteristic trajectory (NCT) and a fuzzy compensator designed using the practical design approach. Therefore, simple and easy of controller design are maintained. The NCT constructed through establishing procedure and the Mamdani type fuzzy compensator is designed according to the available information provided by NCT and the hardware specification. The contouring performance was evaluated by measuring the response of the system providing circle shape through simulation. The simulation result shows that the controller is promising as a practical controller for continuous motion.


NCTF; contouring; x-y table; fuzzy; practical controller


Y. Altintas, A. Verl, C. Brecher, L. Uriarte and G. Pritschow, “ Machine tool feed drives,” CIRP Annals - Manufacturing Technology, vol. 60, pp. 779–796, 2011.

K.H. Ang, and G. Chong, “PID Control System Analysis, Design, and Technology,” IEEE Transactions on Control Systems Technology, vol. 13, pp. 559-576, 2005.

H.P. Syahputra, T.J. Ko and B.M. Chung, “Development of 2-axis hybrid positioning system for precision contouring on micro-milling operation,” Journal of Mechanical Science and Technology, vol. 28, pp. 691-697, 2014.

Y.-T. Tseng and J.-H. Liu, “High-speed and precise positioning of an X-Y table,” Control Engineering Practice, vol. 11, pp. 357-365, 2003.

R. Mei and M. Chen, “Robust Position Control of Electro-mechanical Systems,” Telkomnika, vol. 11, pp. 1674-1681, 2013.

X. Dong, Z. Jian-qu and W. Feng, “Fuzzy PID Control To Feed Servo System of CNC Machine Tool,” Procedia Engineering, vol. 29, pp. 2853–2858, 2012.

D.-C. Quach, S. Huang, Q. Yin and C. Zhou, “An Improved Direct Adaptive Fuzzy Controller for an Uncertain DC Motor Speed Control System,” Telkomnika, vol. 11, pp. 1083-1092, 2013.

Wahyudi, K. Sato and A. Shimokohbe, “Characteristics of practical control for point-to-point (PTP) positioning systems: Effect of design parameters and actuator saturation on positioning performance,” Precision Engineering, vol. 27, pp. 157-169, 2003.

G.J. Maeda and K. Sato, “Practical control method for ultra-precision positioning using a ballscrew mechanism,” Precision Engineering, vol. 32, pp. 309-318, 2008.

Wahyudi, T.F. Ibrahim, R Muhida and M.J.E. Salami, “Robust fuzzy-based NCTF controller for point-to-point (PTP) positioning systems,” International Journal of Systems Simulation, vol. 1, pp. 11-29, 2007.

Full Text: PDF


  • There are currently no refbacks.